Dartmouth logo Dartmouth College Computer Science
Technical Report series
CS home
TR home
TR search TR listserv
By author: A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
By number: 2017, 2016, 2015, 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2001, 2000, 1999, 1998, 1997, 1996, 1995, 1994, 1993, 1992, 1991, 1990, 1989, 1988, 1987, 1986

Pas de Deux avec les Microrobots (Video)
Bruce R. Donald, Christopher G. Levey, Igor Paprotny
Dartmouth TR2008-631

Abstract: Video captured through an optical microscope, showing simultaneous control and operation of two stress-engineered microrobots. The dimensions of our microrobots are 260 x 60 x 10 micrometers; each robot consists of an unthetered scratch-drive actuator that provides forward motion, and a steering-arm actuator that controls whether the robot moves in a straight line or turns.

Our stress-engineered microrobots are electrostatically powered via a global control signal transmitted to all the robots regardless of the their position and orientation within their operating environment. Hence, a single control and power-delivery signal must be used to simultaneously control all robots within the same operating environment, resulting in a highly underactuated system. Despite this high level of underactution we are able to achieve independent control of the individual microrobots by designing their steering-arms to respond to different voltage levels of the supplied control signal.

This example uses nested hysteresis gaps. A hysteresis gap is the difference between the snap-down and release voltages for a steering-arm actuator. Nested hysteresis gaps allow us to set the states of the steering-arms (up or down) to any configuration. As shown in this video, all four states of the two microrobot steering-arms are used to choreograph their motion.

A disadvantage of nested hysteresis gaps is that they are control-voltage bandwidth intensive, limiting the number of simultaneously-controllable devices. An alternative multi-microrobot control scheme that minimizes control-bandwidth is described in [1].

Note: [1] B. R. Donald, C. G. Levey and I. Paprotny. "Planar Microassembly by Parallel Actuation of MEMS Microrobots." Journal of Microelectromechanical Systems,2008, (Epub before print) Digital Object Identifier: 10.1109/JMEMS.2008.924251.

This technical report is a multimedia web page, available at

http://www.cs.dartmouth.edu/reports/TR2008-631/ .


This report is not available electronically.

Bibliographic citation for this report: [plain text] [BIB] [BibTeX] [Refer]

Or copy and paste:
   Bruce R. Donald, Christopher G. Levey, and Igor Paprotny, "Pas de Deux avec les Microrobots (Video)." Dartmouth Computer Science Technical Report TR2008-631,    August 2008.


Notify me about new tech reports.

Search the technical reports.

To receive paper copy of a report, by mail, send your address and the TR number to reports AT cs.dartmouth.edu


Copyright notice: The documents contained in this server are included by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Technical reports collection maintained by David Kotz.